// Client library for AR Drone control server
// Copyright (C) 2015 Florian Jung
// All rights reserved. Licensed under the 3-clause-BSD-license as follows:
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
// 
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
// 
// 3. Neither the name of the copyright holder nor the names of its contributors
//    may be used to endorse or promote products derived from this software without
//    specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


#ifndef __LIB_H__
#define __LIB_H__

#include <opencv2/opencv.hpp>

struct navdata_t
{
	double phi;
	double theta;
	double psi;
	double batt;
};


class DroneConnection
{
	public:
		DroneConnection(const char* sockpath);
		~DroneConnection();
		void get(cv::Mat& frame, navdata_t* navdata);
		void fly(float x, float y, float z, float rot);
	
	private:
		unsigned char* buffer;
		int sockfd = -1;

};

#endif